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more work towards removeBody for C-API/pybullet, work-in-progress.

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This commit is contained in:
Erwin Coumans
2017-05-03 21:53:29 -07:00
parent 152e3da3e4
commit a86f584824
13 changed files with 278 additions and 23 deletions
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43
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -190,6 +190,28 @@ PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
delete m_data;
}
void PhysicsClientSharedMemory::removeCachedBody(int bodyUniqueId)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++)
{
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
m_data->m_bodyJointMap.remove(bodyUniqueId);
}
}
void PhysicsClientSharedMemory::resetData()
{
m_data->m_debugLinesFrom.clear();
@@ -999,7 +1021,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
{
break;
}
case CMD_REMOVE_BODY_COMPLETED:
{
break;
}
case CMD_REMOVE_BODY_FAILED:
{
b3Warning("Removing body failed");
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
@@ -1050,7 +1080,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
return 0;
}
}
if (serverCmd.m_type == CMD_REMOVE_BODY_COMPLETED)
{
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
{
int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
removeCachedBody(bodyUniqueId);
}
}
if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
{
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");